The screws are threaded into "star nuts" that are pressed into the horizontal tubing. The star nuts are readily available, either at a well equipped hardware store or most bicycle repair shops, but you need to know the tubing diameter to get the right size. You'll probably have to drill out the rusted in place outer screws, and the round mounting plate must be unscrewed from the RV wall to access the screw on that end. If they don't fall out, the rusty star nuts can be driven further into the tube to make room for the new ones. I used stainless steel screws to replace the originals. One cause of them rusting and loosening is rain water and/or condensation getting trapped in the tubes. After repairing them, I drill an 1/8" hole in the bottom of each tube near each end, as well as in the bottom of the vertical risers, to allow any trapped moisture to drain.
Dutch
2001 GBM Landau 34' Class A
F53 chassis, Triton V10, TST TPMS
Bigfoot Automatic Leveling System
2011 Toyota RAV4 4WD/Remco pump
ReadyBrute Elite tow bar/Blue Ox baseplate